KUKA.Sim / KUKA OLP - DS-SIM Public Tools

If you work with KUKA robots in KUKA.Sim (Add On) or KUKA OLP, this Python add on adds some functions that can make your life easier:

  • Import of $config.dat file properties (Base/Basename, Tool/Toolname, LoadData)

  • Save and load signal connections of a robot (e.g. if you have to manually exchange a robot)

  • Mirror position statements (for mirrored parts etc.)

  • Adapt position statements with a relative offset or absolute values for selectable parameters of the statements (Coordinates, external axis values, …)

  • Adapt Tool or Base of selected statements without changing robot pose in those statements

  • Add an input to a component. Connect a Boolean signal to this input to show or hide the component while the simulation is running

To install the add on download the zip file below, then unzip and copy the folder “DS_SIM” to the MyCommands folder of your simulation software. The MyCommands folder should be located in your personal documents folder.
Example:
C:\Users\%username%\OneDrive - KUKA AG\Documents\KUKA\KUKA.Sim 4.3\My Commands
(be aware that the path might be slightly different on your system, due to language settings!)

DS_Sim_V1.3.zip (1.6 MB)

You can find more detailed information regarding add ons and how to install them in the Visual Components Academy here

EDITS

EDIT 2023-10-27:

  • New version V1.1
  • Changed folder structure of add on
  • Fixed some issues in Save/Load Signal Connections
  • Added features
    • Helpers/AdaptStatements
      → select multiple statements and adapt various parmeters of those statements, e.g. ablolute value for an external axis or a relative offset for a coordinate

NOTE:

  • There still seem to be other issues in Save/Load Signal Connection
    __

EDIT 2023-11-03:

  • New version V1.2
  • Fixed bug in Save/Load Signal Connections
    __

EDIT 2024-06-17:

  • New version V1.3
  • PROGRAM / DS-SIM Public Tools / Import / Import Tools/Bases
    → enhanced support for various syntax in config.dat regarding HOME positions
  • Added functions
    • PROGRAM / DS-SIM Public Tools / Helpers / Change Tool/Base
      → Adapt Tool or Base of all selected statements without changing robot pose in those statements
    • MODELING / DS-SIM Public Tools / Wizards / Show/Hide component via Signal
      → Adds an input to a component. Connect a Boolean signal to this input to show or hide the component while the simulation is running
7 Likes

Hello…where can i download the add-on??

Forgot to add it while creating the post, I now added it to the original post above.

Thanks, works perfectly.
Best regards, Christoph

Info for new users
To install the add on unzip the files and copy the unzipped folder “DS_SIM_Public_Tools_V1-0” to the following location:
C:\Users%username%\OneDrive - KUKA AG\Dokumente\KUKA\KUKA.Sim 4.3\My Commands

Hi, can you add support for Kuka.Sim 3.1
I am trying to start it there, but it says cant find file named kuka and is not starting.
I need to be able to mirror positions
Thanks!
V

Hi, There is no plan at the moment to make this compatible with Sim 3.1. The Sim 3.1 programming page is a whole different story and I don’t have any experience how to create motion commands there. As Sim 3.1 is discontinued at this point I will not get into that. You could work with a trial version of Sim 4 or buy Sim 4 at the yearly license is quite affordable.

1 Like

thanks, this time i did it manually already :slight_smile: but i will need to upgrade it seems
Here is the result :

Updated to version DS_Sim_V1.1

3 Likes

Updated to version DS_Sim_V1.2

C:\Users%username%\Dokumente\KUKA\KUKA.Sim 4.3\My Commands

I think you are missing a backslash after Users
C:\Users%username%\Dokumente\KUKA\KUKA.Sim 4.3\My Commands

1 Like

Added version 1.3, changes are mentioned in the original post above.

1 Like